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observation.joint_angles
sequence
observation.eef_pose
sequence
observation.target_eef_pose
sequence
actions
sequence
observation.images.right_robot_camera
imagewidth (px)
424
424
timestamp
float32
0
8.26
frame_index
int64
0
413
episode_index
int64
0
229
index
int64
0
58.3k
task_index
int64
0
0
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[ -1.9452509880065918, 1.1305550336837769, 0.5763759613037109, 1.3204870223999023, -1.9181320667266846, 1.2631049156188965, -1.818402886390686 ]
[ 0, 0, 0, 0, 0, 0 ]
[ 0.4281187057495117, 0.04339373856782913, -0.4603155851364136, -3.0388102531433105, -0.03224886208772659, -3.0893940925598145 ]
[ -1.9452509880065918, 1.1305550336837769, 0.5763759613037109, 1.3204870223999023, -1.9181320667266846, 1.2631049156188965, -1.818402886390686, 1 ]
1.94
97
0
97
0
[ -1.9452509880065918, 1.1305550336837769, 0.5763759613037109, 1.3204870223999023, -1.9181320667266846, 1.2631049156188965, -1.818402886390686 ]
[ 0, 0, 0, 0, 0, 0 ]
[ 0.43049904704093933, 0.04214978963136673, -0.4516064524650574, -3.046671152114868, -0.023218447342514992, -3.0908150672912598 ]
[ -1.9452509880065918, 1.1305550336837769, 0.5763759613037109, 1.3204870223999023, -1.9181320667266846, 1.2631049156188965, -1.818402886390686, 1 ]
1.96
98
0
98
0
[ -1.9544410705566406, 1.0951939821243286, 0.5896959900856018, 1.2795759439468384, -1.9168269634246826, 1.2597569227218628, -1.806954026222229 ]
[ 0, 0, 0, 0, 0, 0 ]
[ 0.43253976106643677, 0.04124608635902405, -0.44447943568229675, -3.051605701446533, -0.014121729880571365, -3.0922317504882812 ]
[ -1.9544410705566406, 1.0951939821243286, 0.5896959900856018, 1.2795759439468384, -1.9168269634246826, 1.2597569227218628, -1.806954026222229, 1 ]
1.98
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "easo",
    "total_episodes": 2632,
    "total_frames": 486252,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 3,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:2632"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.joint_angles": {
            "dtype": "float32",
            "shape": [
                7
            ]
        },
        "observation.eef_pose": {
            "dtype": "float32",
            "shape": [
                6
            ]
        },
        "observation.target_eef_pose": {
            "dtype": "float32",
            "shape": [
                6
            ]
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                8
            ]
        },
        "observation.images.right_robot_camera": {
            "dtype": "image",
            "shape": [
                240,
                424,
                3
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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